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45 Commits

Author SHA1 Message Date
Siddharth Purohit f55ee264a7 AP_Compass: reset compass ids not present after compass cal 
also implement replacement mechanism for UAVCAN compasses
 2020-07-27 19:48:15 +10:00
Michael du Breuil f25d20f549 AP_Compass: Only send a single MAG_CAL_* message per poll 
this fairly allocates bandwidth between the calibrators
 2020-06-16 10:09:14 +10:00
Siddharth Purohit c0eb27cc35 AP_Compass: pull compass calibrator out into a separate thread 2020-06-05 09:38:40 +10:00
murata 7ec0cb47a5 AP_Compass: const extern hal reference 2020-04-07 20:45:51 +09:00
Rishabh cbccdfa8a3 AP_Compass: Alert GCS if user tries to calibrate compass while vehicle is armed 2020-03-03 11:37:19 +11:00
Siddharth Purohit 8d227d401a AP_Compass: modify compass driver to support consistent ordering and hotplugging 2020-02-19 13:59:53 +09:00
Andrew Tridgell 09d7e732b7 AP_Compass: added mag_cal_fixed_yaw() 
this is a fast compass calibration that uses a yaw value provided by
the user.
 2019-12-18 17:20:37 +11:00
Peter Barker 823f2bb217 AP_Compass: make compass_cal_status_t enum class Status within CompassCalibrator 2019-12-05 17:38:57 +11:00
Andrew Tridgell 421fbef2a0 AP_Compass: added COMPASS_OPTIONS 
this allows user to set that calibration requires GPS lock
 2019-12-03 20:48:23 +11:00
Andrew Tridgell 6fd0ca36aa AP_Compass: added estimation of compass scale factor 
this adds new COMPASS_SCALE, COMPASS_SCALE2 and COMPASS_SCALE3
parameters, which give the sensor scaling factor. It is used to
compensate for an incorrect scaling in a compass.

The 3D compass calibration process will set the correct value
automatically, otherwise users can set the value to a known value for
an existing compass
 2019-12-03 20:48:23 +11:00
Randy Mackay 89fa324a2b AP_Compass: rename CompassCalibrator::clear to stop 2019-11-26 11:10:06 +11:00
Randy Mackay 09046aec66 AP_Compass: formatting fixes 
this should be a non-functional change
 2019-11-26 11:10:06 +11:00
Randy Mackay f58b09ebef AP_Compass: constify get_completion_mask and remove use of auto 2019-11-26 11:10:06 +11:00
Andrew Tridgell f4576ec8f3 AP_Compass: reduce firmware size for AP_Periph 2019-08-27 10:29:56 +10:00
Peter Barker df01bed14f AP_Compass: take GCS link in place of channel to calibration routines 2019-08-05 09:23:10 +10:00
Peter Barker 0e8722181f AP_Compass: take responsibility for not running cal if armed 2019-04-23 10:06:17 +10:00
Andrew Tridgell 15d2daabf0 AP_Compass: don't do auto-orientation if using ROTATION_CUSTOM 2018-07-18 16:07:19 +10:00
Andrew Tridgell 196ba0e858 AP_Compass: make COMPASS_ROT_AUTO take 3 values 
0 for disabled, 1 for check only, 2 for check and fix
 2018-07-18 16:07:19 +10:00
Andrew Tridgell d15a4ad92a AP_Compass: improved error reporting, check all compasses 
this uses extensions to the MAG_CAL_REPORT message to convey failures
of orientation checking.

It also checks all compasses, external or internal. It only tries to
fix the orientation if it is external
 2018-07-18 16:07:19 +10:00
Andrew Tridgell 8b0f40b402 AP_Compass: implement automatic compass orientation 
this automatically determines the compass orientation when doing a 3D
compass calibration, if COMPASS_ROT_AUTO is enabled.
 2018-07-18 16:07:19 +10:00
Peter Barker 6b53b5b5f3 AP_Compass: make handle_mag_cal_command return type stricter 2017-07-17 14:17:19 +01:00
Andrew Tridgell ee2afd3242 AP_Compass: added COMPASS_OFFS_MAX 
this allows setup of airframes with hatch magnets
 2017-04-04 00:49:34 +01:00
murata af47a8e91c AP_Compass: Unify from print or println to printf. 2017-01-27 18:20:22 +11:00
Michael du Breuil deec4ec6af Compass: Rework compass calibrator 
Summary of significant changes:
  -Autsave doesn't depend on STREAM_EXTRA3
  -Don't risk only saving one compass on copter if CAL_ALWAYS_REBOOT is set
  -Only calibrate compasses that are both health and marked for use (there was a inconsistency in handling the mask)
  -Fix incorrect failure reporting on DO_ACCEPT_MAG_CAL with a mask of 0 if a channel was specifically not started
  -Fix not starting the buzzer if the delay is set to 0 seconds
  -Always send MAG_CAL_REPORT until its acknowledged
  -Correct the field in MAG_CAL_REPORT for autosave to indicate if the compass had actually been saved, rather then being scheduled to be saved
  -Remmove unused public interfaces
 2016-10-27 14:04:33 +11:00
Mathieu OTHACEHE 152edf7189 Global: remove mode line from headers 
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
 2016-10-24 09:42:01 -02:00
Andrew Tridgell f7ac6c8d86 AP_Compass: make internal compasses use a higher cal threshold 
they tend to be a lot noisier
 2016-05-18 16:32:32 +10:00
Gustavo Jose de Sousa 0c31354539 AP_Compass: implement completion mask 
Fill the completion mask and send that through MAVLink while calibrating the
compass.
 2016-05-16 19:08:36 -03:00
Lucas De Marchi e6059f5197 AP_Compass: rename files to follow other libraries 
AP_Compass.h is the main header to be exported and AP_Compass.cpp its
implementation. There's no need for an additional header.
 2016-03-23 17:50:38 -03:00
Tom Pittenger 0aa0380db8 AP_Compass: compiler warnings - float to float compare and bool cast 2015-12-07 15:49:58 +09:00
Jonathan Challinger 78af6d61de AP_Compass: only play compass cal cancel tone if a cal was running 2015-10-21 08:24:49 +11:00
Jonathan Challinger 562db11159 AP_Compass: fix potential AP_Notify concurrency problem 2015-10-20 20:54:02 +09:00
Andrew Tridgell fa9ff5b604 AP_Compass: added parameter for compass calibration fitness threshold 2015-09-14 17:01:14 +10:00
Andrew Tridgell 6991a1b9e9 AP_Compass: ensure we have payload space to send MAG_CAL messages 2015-09-07 08:58:11 +10:00
Andrew Tridgell 2baa0ac2f2 AP_Compass: disable COMPASS_LEARN when mag calibration used 2015-09-07 08:07:17 +10:00
Andrew Tridgell e4b2fc711d AP_Compass: added message for compass cal when armed 2015-09-03 16:59:22 +10:00
Andrew Tridgell f4cdf57d8f AP_Compass: added handling of compass calibration mavlink messages 2015-09-03 16:59:14 +10:00
Siddharth Bharat Purohit 3abdf85796 AP_Compass_Calibrator: remove unrequired variables 2015-09-03 16:59:14 +10:00
Siddharth Bharat Purohit c126017035 AP_Compass: reduce to if healthy check from if-else 2015-09-03 16:59:14 +10:00
Siddharth Bharat Purohit 2fb002798c generate.sh 2015-09-03 16:59:14 +10:00
Siddharth Bharat Purohit 6a603eb594 Compass_cal: implement the concept of auto and mandatory user reboot after cal 2015-09-03 16:59:13 +10:00
Gustavo Jose de Sousa 46774136a6 AP_Compass: standardize inclusion of libaries headers 
This commit changes the way libraries headers are included in source files:

 - If the header is in the same directory the source belongs to, so the
 notation '#include ""' is used with the path relative to the directory
 containing the source.

 - If the header is outside the directory containing the source, then we use
 the notation '#include <>' with the path relative to libraries folder.

Some of the advantages of such approach:

 - Only one search path for libraries headers.

 - OSs like Windows may have a better lookup time.
 2015-09-03 16:59:13 +10:00
Jonathan Challinger 0edf1df28e AP_Compass: loosen calibration acceptance tolerance 2015-09-03 16:59:12 +10:00
Jonathan Challinger 987f55387e AP_Compass: style cleanup 2015-09-03 16:59:12 +10:00
Jonathan Challinger 5ef713f3db AP_Compass: set AP_Notify::compass_cal_failed 2015-09-03 16:59:12 +10:00
Jonathan Challinger cc36401b7c AP_Compass: add calibration interface 2015-09-03 16:59:11 +10:00